/****************************************************************************
 * Copyright (C) 2009-2010 SciTouch LLC
 * 
 * This file is part of Indigo toolkit.
 * 
 * This file may be distributed and/or modified under the terms of the
 * GNU General Public License version 3 as published by the Free Software
 * Foundation and appearing in the file LICENSE.GPL included in the
 * packaging of this file.
 * 
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 ***************************************************************************/

#include "math/algebra.h"

float Vec3f::length () const
{
   return (float)sqrt(lengthSqr());
}


void Vec3f::transformPoint (const Transform3f &matr)
{
  Vec3f v;

  v.pointTransformation(*this, matr);
  copy(v);
}

void Vec3f::transformVector (const Transform3f &matr)
{
  Vec3f v;

  v.vectorTransformation(*this, matr);
  copy(v);
}

void Vec3f::invTransformVector (const Transform3f &matr)
{
  Vec3f v;

  v.invVectorTransformation(*this, matr);
  copy(v);
}

void Vec3f::pointTransformation (const Vec3f &v, const Transform3f &matr)
{
  if (&v == this)
  {
    transformPoint(matr);
    return;
  }

  x = matr.elements[0] * v.x + matr.elements[4] * v.y +
      matr.elements[8] * v.z + matr.elements[12];
  y = matr.elements[1] * v.x + matr.elements[5] * v.y +
      matr.elements[9] * v.z + matr.elements[13];
  z = matr.elements[2] * v.x + matr.elements[6] * v.y +
      matr.elements[10]* v.z + matr.elements[14];
}

void Vec3f::vectorTransformation (const Vec3f &v, const Transform3f &matr)
{
  if (&v == this)
  {
    transformVector(matr);
    return;
  }

  x = matr.elements[0] * v.x + matr.elements[4] * v.y + matr.elements[8] * v.z;
  y = matr.elements[1] * v.x + matr.elements[5] * v.y + matr.elements[9] * v.z;
  z = matr.elements[2] * v.x + matr.elements[6] * v.y + matr.elements[10]* v.z;
}

void Vec3f::invVectorTransformation (const Vec3f &v, const Transform3f &matr)
{
  if (&v == this)
  {
    invTransformVector(matr);
    return;
  }

  x = matr.elements[0] * v.x + matr.elements[1] * v.y + matr.elements[2] * v.z;
  y = matr.elements[4] * v.x + matr.elements[5] * v.y + matr.elements[6] * v.z;
  z = matr.elements[8] * v.x + matr.elements[9] * v.y + matr.elements[10]* v.z;
}

void Vec3f::rotateX (float angle)
{
  float sine = (float)sin(angle);
  float cosine = (float)cos(angle);
  float yy = y * cosine - z * sine;

  z = y * sine + z * cosine;
  y = yy;
}

void Vec3f::rotateY (float angle)
{
  float sine = (float)sin(angle);
  float cosine = (float)cos(angle);
  float xx = x * cosine + z * sine;

  z = -x * sine + z * cosine;
  x = xx;
}

void Vec3f::rotateZ (float angle)
{
  float sine = (float)sin(angle);
  float cosine = (float)cos(angle);
  float xx = x * cosine - y * sine;

  y = x * sine + y * cosine;
  x = xx;
}

void Vec3f::rotate (const Vec3f &around, float angle)
{
  Transform3f matr;

  matr.rotation(around.x, around.y, around.z, angle);
  transformVector(matr);
}

bool Vec3f::normalize ()
{
   float l = lengthSqr();

   if (l < EPSILON * EPSILON)
      return false;

   l = (float)sqrt(l);

   x /= l;
   y /= l;
   z /= l;

   return true;
}

bool Vec3f::normalization (const Vec3f &v)
{
   float l = v.lengthSqr();

   if (l < EPSILON * EPSILON)
      return false;

   l = (float)sqrt(l);

   x = v.x / l;
   y = v.y / l;
   z = v.z / l;

   return true;
}

bool Vec3f::angle (const Vec3f &a, const Vec3f &b, float &res)
{
   float a_len = a.length();
   float b_len = b.length();

   if (a_len < EPSILON || b_len < EPSILON)
      return false;

   res = acos(dot(a, b) / (a_len * b_len));
   return true;
}

float Vec3f::dot (const Vec3f &a, const Vec3f &b)
{
  return a.x * b.x + a.y * b.y + a.z * b.z;
}

float Vec3f::distSqr (const Vec3f &a, const Vec3f &b)
{
  float dx = b.x - a.x;
  float dy = b.y - a.y;
  float dz = b.z - a.z;

  return dx * dx + dy * dy + dz * dz;
}

float Vec3f::dist (const Vec3f &a, const Vec3f &b)
{
  return (float)sqrt(distSqr(a, b));
}
